A new three degrees of freedom electromagnetic actuator

Foggia, Albert; Olivier, E.; Chappuis, F.; Sabonnadière, Jean‐Claude

doi:10.1109/ias.1988.25053

Cited by 62 publications

(58 citation statements)

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“…The model-free control strategy is based on the assumption that the joints of the manipulators are all independent and the system can be decoupled into a group of singleaxis control systems [2][3][4]. Therefore, the kinematic control method always results in a group of individual controllers, each for an active joint of the manipulator.…”

Section: Forward Kinematics Of Robotmentioning

confidence: 99%

“…There are several methods for controlling a robot manipulator, which all of them follow two common goals, namely, hardware/software implementation and acceptable performance. However, the mechanical design of robot manipulator is very important to select the best controller but in general two types schemes can be presented, namely, a joint space control schemes and an operation space control schemes [3]. Joint space and operational space control are closed loop controllers which they have been used to provide robustness and rejection of disturbance effect.…”

Section: Introductionmentioning

confidence: 99%

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Novel Intelligent-Based Gravity Control for Industrial Robot Arm

Babakhani¹,

Moradi²,

Salooki³

et al. 2015

IJHIT

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Section: Forward Kinematics Of Robotmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Novel Intelligent-Based Gravity Control for Industrial Robot Arm

Babakhani¹,

Moradi²,

Salooki³

et al. 2015

IJHIT

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show abstract

“…The controller design is further complicated by the orientation-varying torque generated by the spherical motor. Some of these challenges have been the focus of previous and ongoing research [1][2][3][4][5].…”

Section: Introductionmentioning

confidence: 99%

Design Intelligent Model-free Hybrid Guidance Controller for Three Dimension Motor

Mirshekaran¹,

Piltan²,

Sulaiman³

et al. 2014

IJIEEB

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Abstract-The minimum rule base Proportional Integral Derivative (PID) Fuzzy hybrid guidance Controller for three dimensions spherical motor is presented in this research. A three dimensions spherical motor is well equipped with conventional control techniques and, in particular, various PID controllers which demonstrate a good performance and successfully solve different guidance problems. Guidance control in a three dimensions spherical motor is performed by the PID controllers producing the control signals which are applied to systems torque. The necessary reference inputs for a PID controller are usually supplied by the system's sensors based on different data. The popularity of PID Fuzzy hybrid guidance Controller can be attributed to their robust performance in a wide range of operating conditions and partly to their functional simplicity. PID methodology has three inputs and if any input is described with seven linguistic values, and any rule has three conditions we will need 343 rules. It is too much work to write 343 rules. In this research the PID-like fuzzy controller can be constructed as a parallel structure of a PD-like fuzzy controller and a conventional PI controller to have the minimum rule base. Linear type PID controller is used to modify PID fuzzy logic theory to design hybrid guidance methodology. This research is used to reduce or eliminate the fuzzy and conventional PID controller problem based on minimum rule base fuzzy logic theory and modified it by PID method to control of spherical motor system and testing of the quality of process control in the simulation environment of MATLAB/SIMULINK Simulator.

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“…There are many different structured spherical motors resembling induction motors [10,11], direct-current motors [12][13][14], stepper motors [15], variable reluctance motors [16,17] and ultrasonic motors [18,19]. Three dimensional nature of the electromagnetic field distribution in the foregoing spherical motors make their electromagnetic and dynamic behavior difficult to analyze, and this has been a significant obstacle to their design optimization and servo application.…”

Section: Introductionmentioning

confidence: 99%

3D Magnetic Analysis of Permanent Magnets in Spherical Configuration

Öner¹,

Kesler²

2016

Journal of Electrical Engineering and Technology

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-The present study aims to increase the amount of surface flux by changing the magnetic directions of a spherical magnet (NdFeB) consisting of four poles. For this purpose, the magnetic directions of quartile spherical slices constituting the spherical magnet are manipulated and their threedimensional analyses are carried out by using finite-element method via Maxwell environment. The analysis of the magnetic quartile spheres with four different magnetic directions are compared to the each other, and then the quartile sphere with the best surface flux distribution is suggested for rotor structure. It is clear emphasized that the induced torque of the spherical motor, in which such a rotor is used, will be improved as well.

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A new three degrees of freedom electromagnetic actuator

Cited by 62 publications

References 0 publications

Novel Intelligent-Based Gravity Control for Industrial Robot Arm

Novel Intelligent-Based Gravity Control for Industrial Robot Arm

Design Intelligent Model-free Hybrid Guidance Controller for Three Dimension Motor

3D Magnetic Analysis of Permanent Magnets in Spherical Configuration

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